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<div class="title">rift.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_RIFT_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_RIFT_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> GradientT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_i_f_t_estimation.html">   60</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_r_i_f_t_estimation.html">RIFTEstimation</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature.html">Feature</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::tree_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;GradientT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudGradient</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudGradient::Ptr PointCloudGradientPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudGradient::ConstPtr PointCloudGradientConstPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::shared_ptr&lt;RIFTEstimation&lt;PointInT, GradientT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::shared_ptr&lt;const RIFTEstimation&lt;PointInT, GradientT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_i_f_t_estimation.html#a0a34f2ecc9ed04ce7b43b3a11a938003">   84</a></span>&#160;      <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a0a34f2ecc9ed04ce7b43b3a11a938003">RIFTEstimation</a> () : <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a397d3f78f5eaae31a5f6fa529dfbe4c1">gradient_</a> (), <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a30d91f31d35f82e5e8d8311ec3baa04a">nr_distance_bins_</a> (4), <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a669ddfe9cc8d7c5d011d15e147705cf7">nr_gradient_bins_</a> (8)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;RIFTEstimation&quot;</span>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      };</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_i_f_t_estimation.html#a4b3bbab981ff6a9d06ec356a40ef17df">   93</a></span>&#160;      <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a4b3bbab981ff6a9d06ec356a40ef17df">setInputGradient</a> (<span class="keyword">const</span> PointCloudGradientConstPtr &amp;gradient) { <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a397d3f78f5eaae31a5f6fa529dfbe4c1">gradient_</a> = gradient; };</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">inline</span> PointCloudGradientConstPtr </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_i_f_t_estimation.html#ad72f22949717fd15be75d3f730206178">   97</a></span>&#160;      <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#ad72f22949717fd15be75d3f730206178">getInputGradient</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a397d3f78f5eaae31a5f6fa529dfbe4c1">gradient_</a>); };</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_i_f_t_estimation.html#a3e5f538801f66792c8cd750346bc2856">  103</a></span>&#160;      <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a3e5f538801f66792c8cd750346bc2856">setNrDistanceBins</a> (<span class="keywordtype">int</span> nr_distance_bins) { <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a30d91f31d35f82e5e8d8311ec3baa04a">nr_distance_bins_</a> = nr_distance_bins; };</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_i_f_t_estimation.html#a435800fcae037f36596d7e9a9e20fb60">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a435800fcae037f36596d7e9a9e20fb60">getNrDistanceBins</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a30d91f31d35f82e5e8d8311ec3baa04a">nr_distance_bins_</a>); };</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_i_f_t_estimation.html#a04fbdbe90490278fc6a963d5525bc5f4">  113</a></span>&#160;      <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a04fbdbe90490278fc6a963d5525bc5f4">setNrGradientBins</a> (<span class="keywordtype">int</span> nr_gradient_bins) { <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a669ddfe9cc8d7c5d011d15e147705cf7">nr_gradient_bins_</a> = nr_gradient_bins; };</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_i_f_t_estimation.html#afdf9c8df2c80f9f768bc023c809bbf33">  117</a></span>&#160;      <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#afdf9c8df2c80f9f768bc023c809bbf33">getNrGradientBins</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a669ddfe9cc8d7c5d011d15e147705cf7">nr_gradient_bins_</a>); };</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#afafca1c81fd83242c44f1b0dc924d19e">computeRIFT</a> (<span class="keyword">const</span> PointCloudIn &amp;cloud, <span class="keyword">const</span> PointCloudGradient &amp;gradient, <span class="keywordtype">int</span> p_idx, <span class="keywordtype">float</span> radius,</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                   <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, <span class="keyword">const</span> std::vector&lt;float&gt; &amp;squared_distances, </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                   Eigen::MatrixXf &amp;rift_descriptor);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a4b8311e9ec8f927963263385ca266d27">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_i_f_t_estimation.html#a397d3f78f5eaae31a5f6fa529dfbe4c1">  145</a></span>&#160;      PointCloudGradientConstPtr <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a397d3f78f5eaae31a5f6fa529dfbe4c1">gradient_</a>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_i_f_t_estimation.html#a30d91f31d35f82e5e8d8311ec3baa04a">  148</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a30d91f31d35f82e5e8d8311ec3baa04a">nr_distance_bins_</a>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_i_f_t_estimation.html#a669ddfe9cc8d7c5d011d15e147705cf7">  151</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_r_i_f_t_estimation.html#a669ddfe9cc8d7c5d011d15e147705cf7">nr_gradient_bins_</a>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  };</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;}</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/rift.hpp&gt;</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// #ifndef PCL_RIFT_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html">pcl::RIFTEstimation</a></div><div class="ttdoc">RIFTEstimation estimates the Rotation Invariant Feature Transform descriptors for a given point cloud...</div><div class="ttdef"><b>Definition:</b> rift.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_a04fbdbe90490278fc6a963d5525bc5f4"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#a04fbdbe90490278fc6a963d5525bc5f4">pcl::RIFTEstimation::setNrGradientBins</a></div><div class="ttdeci">void setNrGradientBins(int nr_gradient_bins)</div><div class="ttdoc">Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor</div><div class="ttdef"><b>Definition:</b> rift.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_a0a34f2ecc9ed04ce7b43b3a11a938003"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#a0a34f2ecc9ed04ce7b43b3a11a938003">pcl::RIFTEstimation::RIFTEstimation</a></div><div class="ttdeci">RIFTEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> rift.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_a30d91f31d35f82e5e8d8311ec3baa04a"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#a30d91f31d35f82e5e8d8311ec3baa04a">pcl::RIFTEstimation::nr_distance_bins_</a></div><div class="ttdeci">int nr_distance_bins_</div><div class="ttdoc">The number of distance bins in the descriptor.</div><div class="ttdef"><b>Definition:</b> rift.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_a397d3f78f5eaae31a5f6fa529dfbe4c1"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#a397d3f78f5eaae31a5f6fa529dfbe4c1">pcl::RIFTEstimation::gradient_</a></div><div class="ttdeci">PointCloudGradientConstPtr gradient_</div><div class="ttdoc">The intensity gradient of the input point cloud data</div><div class="ttdef"><b>Definition:</b> rift.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_a3e5f538801f66792c8cd750346bc2856"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#a3e5f538801f66792c8cd750346bc2856">pcl::RIFTEstimation::setNrDistanceBins</a></div><div class="ttdeci">void setNrDistanceBins(int nr_distance_bins)</div><div class="ttdoc">Set the number of bins to use in the distance dimension of the RIFT descriptor</div><div class="ttdef"><b>Definition:</b> rift.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_a435800fcae037f36596d7e9a9e20fb60"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#a435800fcae037f36596d7e9a9e20fb60">pcl::RIFTEstimation::getNrDistanceBins</a></div><div class="ttdeci">int getNrDistanceBins() const</div><div class="ttdoc">Returns the number of bins in the distance dimension of the RIFT descriptor.</div><div class="ttdef"><b>Definition:</b> rift.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_a4b3bbab981ff6a9d06ec356a40ef17df"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#a4b3bbab981ff6a9d06ec356a40ef17df">pcl::RIFTEstimation::setInputGradient</a></div><div class="ttdeci">void setInputGradient(const PointCloudGradientConstPtr &amp;gradient)</div><div class="ttdoc">Provide a pointer to the input gradient data</div><div class="ttdef"><b>Definition:</b> rift.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_a4b8311e9ec8f927963263385ca266d27"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#a4b8311e9ec8f927963263385ca266d27">pcl::RIFTEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Rotation Invariant Feature Transform (RIFT) descriptors at a set of points given by &lt;set...</div><div class="ttdef"><b>Definition:</b> rift.hpp:113</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_a669ddfe9cc8d7c5d011d15e147705cf7"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#a669ddfe9cc8d7c5d011d15e147705cf7">pcl::RIFTEstimation::nr_gradient_bins_</a></div><div class="ttdeci">int nr_gradient_bins_</div><div class="ttdoc">The number of gradient orientation bins in the descriptor.</div><div class="ttdef"><b>Definition:</b> rift.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_ad72f22949717fd15be75d3f730206178"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#ad72f22949717fd15be75d3f730206178">pcl::RIFTEstimation::getInputGradient</a></div><div class="ttdeci">PointCloudGradientConstPtr getInputGradient() const</div><div class="ttdoc">Returns a shared pointer to the input gradient data</div><div class="ttdef"><b>Definition:</b> rift.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_afafca1c81fd83242c44f1b0dc924d19e"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#afafca1c81fd83242c44f1b0dc924d19e">pcl::RIFTEstimation::computeRIFT</a></div><div class="ttdeci">void computeRIFT(const PointCloudIn &amp;cloud, const PointCloudGradient &amp;gradient, int p_idx, float radius, const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;squared_distances, Eigen::MatrixXf &amp;rift_descriptor)</div><div class="ttdoc">Estimate the Rotation Invariant Feature Transform (RIFT) descriptor for a given point based on its sp...</div><div class="ttdef"><b>Definition:</b> rift.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_r_i_f_t_estimation_html_afdf9c8df2c80f9f768bc023c809bbf33"><div class="ttname"><a href="classpcl_1_1_r_i_f_t_estimation.html#afdf9c8df2c80f9f768bc023c809bbf33">pcl::RIFTEstimation::getNrGradientBins</a></div><div class="ttdeci">int getNrGradientBins() const</div><div class="ttdoc">Returns the number of bins in the gradient orientation dimension of the RIFT descriptor.</div><div class="ttdef"><b>Definition:</b> rift.h:117</div></div>
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